Full-automatic cutter replacing device and system

Abstract

The full-automatic cutter replacing device comprises a sampling head, a sampling pipe, a mechanical claw, a mechanical arm, a cleaning bin, a recycling bin, a first adapting piece and a second adapting piece, the sampling head and the sampling pipe are separated and connected through the mechanical claw and the mechanical arm, and a first limiting part and a second limiting part are arranged on the first adapting piece and the second adapting piece. The first clamping jaw and the second clamping jaw are matched with the first limiting part and the second limiting part, so that automatic matching and separation between the sampling head and the sampling pipe can be stably realized for a long time, meanwhile, the stress of the mechanical arm is reduced in the matching and separation processes, and the stability of the sampling pipe is ensured; the technical scheme is adaptive to the existing sampling tube and sampling head, and in addition, the precision matching requirement when the sampling tube and the sampling head are inserted and pulled is also reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to environmental monitoring equipment, concretely relates to a cutter full -automatic replacement device and system. BACKGROUND

[0002] At present, the particle cutter of the particle monitoring equipment of most environmental monitoring stations needs to be replaced and maintained regularly by manual. Limited by the manual regular operation and maintenance, each time the cutter needs to spend a large amount of manual and time, and after replacement, manual air tightness monitoring is needed, which influences the coherence and accurate uniformity of environmental monitoring data. Chinese utility model patent application CN117929035A discloses a full-automatic air sampling cutter replacement device, the sampling head and the sampling pipe are separated through the mechanical claw, and the mechanical claw is driven through the mechanical arm, but since the sampling head is pulled out, the mechanical claw needs to exert a large lifting force (such as 150N) on the sampling head to realize the separation of the sampling head and the sampling pipe, if the friction force between the mechanical claw and the sampling head is simply realized, the large clamping force of the mechanical claw is easy to cause the deformation of the sampling head, and the existing mechanical hand concentrates the stress on the mechanical arm, so the performance requirement of the mechanical arm is relatively high; in addition, since the sampling pipe is not limited, the sampling pipe will shake or even be pulled out together with the sampling head. Therefore, in order to realize the full-automatic replacement of the cutter head, the above technical problems need to be solved. UTILITY MODEL CONTENTS

[0003] The utility model solves the technical problem that a cutter full-automatic replacement device and system are provided, which can realize the automatic cooperation and separation between the sampling head and the sampling pipe for a long time, reduce the stress of the mechanical arm during cooperation and separation, and ensure the stability of the sampling pipe; the technical scheme is suitable for the existing sampling pipe and sampling head, and further reduces the precision cooperation requirement during the insertion and pulling out of the sampling pipe and the sampling head.

[0004] The utility model realizes the above-mentioned purpose through the following technical scheme: a cutter full-automatic replacement device, wherein, including sampling head, sampling pipe, sampling head and sampling pipe sealed connection, still including the mechanical claw, mechanical arm for realizing sampling head and sampling pipe cooperation and separation,

[0005] The mechanical claw includes a first clamping jaw, a second clamping jaw, a driving assembly and a mounting plate; the first clamping jaw and the second clamping jaw are installed on the mounting plate and are independently opened and closed, the driving assembly drives the first clamping jaw and the second clamping jaw to move relatively, and the mechanical arm is connected to the mounting plate.

[0006] The sampling head is provided with a first limiting part, and the sampling pipe is provided with a second limiting part.

[0007] The first limiting part comprises a sampling head first limiting block and a sampling head second limiting block, and the sampling head first limiting block and the sampling head second limiting block cooperate with the first clamping jaw to limit the first clamping jaw between the sampling head first limiting block and the sampling head second limiting block.

[0008] The second limiting part comprises a sampling tube second limiting block, and the sampling tube second limiting block cooperates with the second clamping jaw to limit the movement of the sampling tube towards the sampling head.

[0009] By cooperating the first limiting part with the first clamping jaw, the first clamping jaw can reduce the requirement of friction force by applying force to the first limiting part, prevent the deformation of the sampling head caused by the excessive clamping force of the mechanical jaw, and solve the problem of high performance requirement of the mechanical arm for automatic replacement of the sampling head.

[0010] As a further optimization scheme of the utility model, the second clamping jaw is fixed on the mounting plate, and the driving assembly drives the movement of the first clamping jaw. By driving the first clamping jaw through the driving assembly, the second clamping jaw is clamped on the second limiting part, and the second clamping jaw remains stationary. The stress on the mechanical arm is transferred to the sampling tube, thereby solving the problem of high performance requirement of the mechanical arm for automatic replacement of the sampling head.

[0011] As a further optimization scheme of the utility model, the second limiting part further comprises a sampling tube first limiting block, and the sampling tube first limiting block cooperates with the sampling tube second limiting block to limit the second clamping jaw between the sampling tube first limiting block and the sampling tube second limiting block. By providing the sampling tube first limiting block, the second clamping jaw can be limited between the sampling tube first limiting block and the sampling tube second limiting block, and the clamping of the second clamping jaw is facilitated, thereby playing a clamping guiding role.

[0012] The further optimization scheme further comprises a first adapter and a second adapter, the first adapter is provided with the first limiting part, and the second adapter is provided with the second limiting part; the first adapter is in sealing cooperation with the sampling head; the second adapter is in sealing cooperation with the sampling tube; and the first adapter is in sealing cooperation with the second adapter. By providing the first adapter and the second adapter, the technical scheme can be adapted to the existing sampling tube and sampling head, and the precision cooperation requirement during plugging and unplugging of the sampling tube and the sampling head is reduced.

[0013] Further optimization scheme, the first adapter is provided with a first adapter interface, a first step is formed between the first adapter interface and the inner wall of the sampling head, the first adapter is provided with a first adapter part, the first adapter part extends from the first limiting block of the sampling head into the first adapter interface, and the top surface of the first adapter part is in abutment with the first step, and the first adapter interface and the first adapter part are sealed by a sealing ring.

[0014] Further optimization scheme, the end of the first adapter interface extends to the end surface of the first limiting block of the sampling head, is in abutment with the end surface of the first limiting block, and the end of the first adapter interface is in sealing fit with the end surface of the first limiting block. The end of the first adapter interface and the end surface of the first limiting block of the sampling head are in sealing fit, further ensuring the sealing of the sampling head and the first adapter.

[0015] Further optimization scheme, the first adapter is provided with a second adapter interface, a second step is formed between the second adapter interface and the inner wall of the first adapter, the second adapter is provided with a second adapter part, the second adapter part extends from the first limiting block of the sampling tube into the second adapter interface, and the top surface of the second adapter part is in abutment with the second step, and the second adapter interface and the second adapter part are sealed by a sealing ring. By setting the second adapter interface, the second step and the second adapter part, the sealing between the first adapter and the second adapter is ensured.

[0016] Further optimization scheme, the second adapter interface is in the shape of a trumpet mouth. By setting the second adapter interface in the shape of a trumpet mouth, the connection between the first adapter and the second adapter is facilitated.

[0017] Further optimization scheme, the end of the second adapter interface extends to the end surface of the first limiting block of the sampling tube, is in abutment with the end surface of the first limiting block of the sampling tube, and the end of the second adapter interface is in sealing fit with the end surface of the first limiting block of the sampling tube. The sealing between the first adapter and the second adapter is ensured.

[0018] Further optimization scheme, the second adapter is provided with a third connecting interface, a third step is formed between the third connecting interface and the inner wall of the second adapter, the sampling tube is inserted into the third connecting interface and is in abutment with the third step, and the third connecting interface is in sealing fit with the sampling tube. The sealing between the second adapter and the sampling tube is ensured. As a further optimization scheme of the utility model, the sampling head and the first adapter are integrally formed, and the sampling tube and the second adapter are integrally formed. By the structure of integral molding, the problem of air tightness is solved.

[0019] As a further optimization scheme of the utility model, the two opposite surfaces between the sampling head first limiting block and the sampling head second limiting block are inclined surfaces, the two opposite surfaces between the sampling pipe first limiting block and the sampling pipe second limiting block are inclined surfaces, and the inclined surfaces are used for guiding the mechanical claw clamping.

[0020] The cutting device full-automatic replacement system further comprises a clean bin and a recycling bin, the clean bin and the recycling bin are arranged in the stroke range of the mechanical arm, and the clean bin and the recycling bin are provided with a placing groove for placing the sampling head.

[0021] Beneficial effects:

[0022] The full-automatic replacement device of the utility model, the mechanical claw and the mechanical arm realize the automatic separation of the sampling head and the sampling pipe, the first limiting part and the second limiting part matched with the mechanical claw are arranged, the mechanical claw clamps the first limiting part and the second limiting part during work, the demand of the mechanical claw during the separation or cooperation of the sampling head and the sampling pipe is reduced, the shaking of the sampling pipe is effectively prevented, and the stable replacement of the sampling head and the sampling pipe is ensured; in addition, the first claw and the second claw are connected to the mounting plate, the second claw is clamped on the sampling pipe, the stress of the mechanical arm is transferred to the sampling pipe, the stress at the mechanical arm is reduced, and the problem that the performance requirement of the mechanical arm is high during the automatic replacement process is solved. The first adapter and the second adapter are arranged, the application range of the device is wider, the existing sampling head and sampling pipe are applicable, and the precision requirement during the plugging of the sampling pipe and the sampling head is reduced. The first step, the second step, the first adapter part and the second adapter part are arranged, and the multiple sealing structures ensure the sealing performance after the replacement of the sampling head and the sampling pipe. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a sampling head replacement schematic view of the utility model;

[0024] Figure 2 It is a sampling head and sampling pipe connection schematic view of the utility model;

[0025] Figure 3 It is a mechanical claw clamping sampling head schematic view of the utility model;

[0026] Figure 4 It is a mechanical claw structure schematic view of the utility model;

[0027] Figure 5 It is a first adapter structure schematic view of the utility model;

[0028] Figure 6 It is a second adapter structure schematic view of the utility model;

[0029] Figure 7The utility model discloses a cutting device full automatic replacement device clean storehouse, recycling storehouse schematic drawing.

[0030] 1 - sampling head, 2 - sampling tube, 3 - mechanical claw, 4 - first limit part, 5 - second limit part, 6 - first adapter, 7 - second adapter, 8 - clean storehouse, 9 - recycling storehouse, 11 - first adapter interface, 31 - first clamping jaw, 32 - second clamping jaw, 39 - mechanical arm, 41 - sampling head first limit block, 42 - sampling head second limit block, 51 - sampling tube first limit block, 52 - sampling tube second limit block, 61 - second adapter interface, 111 - first step, 611 - second step, 71 - second adapter part, 72 - third connecting port, 73 - third step DETAILED DESCRIPTION

[0031] The following detailed description of the application in conjunction with the drawings, it is necessary to point out here that the following detailed description is only used to further illustrate the application, can not be understood as limiting the scope of the application, the skilled person can make some non-essential improvements and adjustments to the application according to the above application.

[0032] Example 1

[0033] As Figure 1 shown, a cutting device full automatic replacement device includes sampling head 1, sampling tube 2, mechanical claw 3, mechanical arm 39, mechanical arm 39 drives mechanical claw 3 to load or separate sampling head 1 and sampling tube.

[0034] As Figure 3 , Figure 4 As shown, mechanical claw 3 includes first clamping jaw 31, second clamping jaw 32, drive assembly 33, mounting plate 34, first opening and closing motor, second opening and closing motor. The mounting plate 34 is provided with a slide rail; the first clamping jaw 31 is installed on the slide rail and is driven to slide by the drive assembly 33, and the drive assembly 33 is preferably a cylinder, and in some embodiments, it can also be a motor. The first opening and closing motor is fixedly installed on the mounting plate 34 or the slide rail, when the first opening and closing motor is fixedly installed on the mounting plate 34, the first clamping jaw 31 and the first opening and closing motor are driven to open and close the first clamping jaw 31 through flexible electrical connection, when the first opening and closing motor is installed on the slide rail, it can slide up and down with the first clamping jaw 31. The second clamping jaw 32 and the second opening and closing motor are fixedly installed on the mounting plate 34, and the second opening and closing motor drives the second clamping jaw 32 to open and close, and the first clamping jaw 31 and the second clamping jaw 32 are independently opened and closed. In other embodiments, the above-mentioned first opening and closing motor and second opening and closing motor can also be replaced by a cylinder device. The mounting plate 34 is connected to the mechanical arm 39, which is located on the other side of the first clamping jaw 31 and the second clamping jaw 32.

[0035] In this embodiment, the driving assembly 33 drives the first jaw 31 to move, and the second jaw 32 will remain static after clamping. During the operation of the mechanical jaw, since the second jaw 32 is connected with the sampling tube, the force originally borne by the mechanical arm when plugging and unplugging the sampling head will be partially transferred to the sampling tube by the second jaw 32, thereby reducing the force borne by the mechanical arm 39.

[0036] The first limiting part 4 is arranged on the sampling head 1, and the second limiting part 5 is arranged on the sampling tube 2. The first limiting part 4 comprises a sampling head first limiting block 41 and a sampling head second limiting block 42, and the area formed between the sampling head first limiting block 41 and the sampling head second limiting block 42 is used to cooperate with the first jaw 31 to clamp, so as to prevent the first jaw 31 from sliding during the separation or installation of the sampling head, thereby preventing the sampling head from being unable to be separated or installed out of position. The second limiting part 5 comprises a sampling tube second limiting block 52, which cooperates with the second jaw 32 to clamp and can limit the movement of the sampling tube 2 to the sampling head 1 during the installation or separation process and limit the second jaw 32. In this embodiment, the second limiting part 5 further comprises a sampling tube first limiting block 51, which cooperates with the sampling tube second limiting block 52 and the second jaw 32 to limit the second jaw 32 between the sampling tube first limiting block 51 and the sampling tube second limiting block 52.

[0037] When the equipment is running, it can cooperate with the clean warehouse 8 and the recycling warehouse 9, as shown in the figure. Figure 7 When the sampling head 1 needs to be disassembled, the mechanical arm 39 drives the mechanical jaw 3 to a specified position, the first jaw 31 clamps the first limiting part 4, the second jaw 32 clamps the second limiting part 5, and the driving assembly 33 drives the first jaw 31 to move towards the upper part away from the second jaw 32. Through the force applied by the first jaw 31 to the sampling head first limiting block 41 and the friction between the first jaw 31 and the first limiting part 4, and since the second jaw 32 cooperates with the sampling tube second limiting block 52 to prevent the sampling tube 2 from being pulled together with the sampling head 1, the sampling head 1 and the sampling tube 2 are separated. After separation, the second jaw 32 releases the second limiting part, the first jaw 31 continues to clamp the sampling head, the mechanical arm 39 drives the mechanical jaw to move to the position of the recycling warehouse 9, and the sampling head is placed in the recycling warehouse 9, and the disassembly is completed. After the disassembly is completed, a new sampling head 1 needs to be installed, the mechanical jaw 3 moves to the clean warehouse 8 under the drive of the mechanical arm 39, the first jaw 31 clamps the first limiting part 4 of the new sampling head 1, the mechanical arm 39 moves and positions the mechanical jaw 3 to the sampling tube 2, the second jaw 32 clamps the second limiting part 5, and the driving assembly 33 drives the first jaw 31 to move towards the lower part close to the second jaw 32. Through the force applied by the first jaw 31 to the sampling head second limiting block 42 and the friction between the first jaw 31 and the first limiting part 4, the sampling head 1 is inserted into the sampling tube 2, and the installation of the sampling head 1 is completed.

[0038] Embodiment 2

[0039] The cutter full-automatic replacement device shown in Embodiment 2 is different in that, in order to better adapt the existing sampling head and sampling tube, a first adapter 6 and a second adapter 7 are arranged, as shown in the figure. Figure 2 The first adapter 6 and the second adapter 7 are used to realize the connection between the sampling head and the sampling tube, and are intermediate connecting components, which reduce the risk of deformation of the sampling head and the sampling tube caused by excessive clamping force of the mechanical claw directly clamping the sampling head and the sampling tube. The first adapter 6 is in sealing connection with the sampling head 1, the second adapter 7 is in sealing connection with the sampling tube 2, and the first adapter 6 is in sealing connection with the second adapter 7. When the first adapter 6 and the second adapter 7 are arranged, the first limiting portion 4 is arranged on the first adapter 6, and the second limiting portion 5 is arranged on the second adapter 7.

[0040] The sampling head 1 is provided with a first adapter port 11, and a first step 111 is formed between the first adapter port 11 and the inner wall of the sampling head 1, as shown in the figure. Figure 5 One end of the first adapter 6 is provided with a first adapter portion 43, the first adapter portion 43 extends from the first limiting block 41 of the sampling head into the first adapter port 11, and the top surface of the first adapter portion 43 is in abutment with the first step 111. A plurality of sealing grooves are arranged on the side wall of the first adapter portion 43, and a sealing ring is arranged in the sealing groove. The sealing ring is in interference fit with the sealing groove, which ensures the sealing between the first adapter portion 43 and the first adapter port 11 while the first adapter portion 43 can be inserted into the first adapter port 11. In order to realize multiple sealing effects, a sealing structure such as a sealing ring and a sealing groove is arranged at the end surface of the first limiting block 41, which can realize the sealing fit between the end of the first adapter port 11 and the end surface of the first limiting block 41.

[0041] The other end of the first adapter 6 is provided with a second adapter port 61, and a second step 611 is formed between the second adapter port 61 and the inner wall of the first adapter 6, as shown in the figure. Figure 6 The second adapter 7 is provided with a second adapter portion 71, the second adapter portion 71 extends from the first limiting block 51 of the sampling tube into the second adapter port 61, and the top surface of the second adapter portion 71 is in abutment with the second step 611. Meanwhile, a plurality of sealing grooves are arranged on the outer wall of the second adapter portion 71, and a sealing ring is arranged in the sealing groove. The sealing ring is in interference fit with the sealing groove, which ensures the sealing between the second adapter port 61 and the second adapter portion 71. In order to ensure the quick connection between the first adapter 6 and the second adapter 7, the second adapter port 61 is arranged in a flared shape, which facilitates the insertion of the second adapter portion 71.

[0042] The second adapter 7 is provided with a plurality of sealing structures at the second adapter port, and the end of the second adapter port 61 extends to the end face of the sampling tube first limiting block 51 and is in abutment with the end face of the sampling tube first limiting block 51, and the end of the second adapter port 61 is in sealing cooperation with the end face of the sampling tube first limiting block 51.

[0043] The other end of the second adapter 7 is provided with a third adapter port 72, and the third adapter port 72 and the inner wall of the second adapter 7 form a third step 73, the sampling tube 2 is inserted into the third adapter port 72 and is in abutment with the third step 73, and the third adapter port 72 and the sampling tube 2 are in sealing cooperation through the sealing ring arranged on the side wall of the sampling tube 2.

[0044] Embodiment 3

[0045] The automatic cutter replacement device shown in Embodiment 1 is different in that the sampling head 1 is integrally formed with the first adapter 6, and the sampling tube 2 is integrally formed with the second adapter 7, so that the leakage problem is solved, and the cost of the sealing structure is reduced.

[0046] Embodiment 4

[0047] The automatic cutter replacement device shown in Embodiment 1 is different in that the two opposite surfaces between the sampling head first limiting block 41 and the sampling head second limiting block 42 are inclined surfaces, and the two opposite surfaces between the sampling tube first limiting block 51 and the sampling tube second limiting block 52 are inclined surfaces, so that the inclined surfaces play a guiding role, and the clamping of the mechanical claw 3 is facilitated.

[0048] Embodiment 5

[0049] The automatic cutter replacement device shown in Embodiment 1, together with the clean warehouse and the recycling warehouse, constitutes a cutter automatic replacement system, as shown in Figure 7 The clean warehouse 8 is used for placing clean sampling heads, the clean warehouse 8 and the recycling warehouse 9 are provided with a placing groove for placing the sampling head 1, the recycling warehouse 9 is used for placing used sampling heads, the clean warehouse 8 and the recycling warehouse 9 are arranged in the stroke range of the mechanical arm 39, and the above system can realize continuous replacement and installation of the sampling head.

[0050] The above-described embodiments are only used to describe the preferred embodiments of the present application, and do not limit the design concept and scope of the present application. Various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design concept of the present application shall fall within the protection scope of the present application, and the technical content claimed by the present application has been fully recorded in the claims.

Claims

1. A fully automatic cutter changing device, characterized in that: It includes a sampling head (1) and a sampling tube (2), with the sampling head (1) and the sampling tube (2) being sealed together; it also includes a mechanical claw (3) and a mechanical arm (39) for enabling the sampling head (1) and the sampling tube (2) to cooperate and separate. The mechanical gripper (3) includes a first gripper (31), a second gripper (32), a drive assembly (33), and a mounting plate (34); the first gripper (31) and the second gripper (32) are mounted on the mounting plate (34) and open and close independently; the drive assembly (33) drives the first gripper (31) and the second gripper (32) to move relative to each other; and the mechanical arm (39) is connected to the mounting plate (34). The sampling head (1) is provided with a first limiting part (4), and the sampling tube (2) is provided with a second limiting part (5); The first limiting part (4) includes a first limiting block (41) of the sampling head and a second limiting block (42) of the sampling head. The first limiting block (41) of the sampling head and the second limiting block (42) of the sampling head cooperate with the first gripper (31) so that the first gripper (31) is limited between the first limiting block (41) of the sampling head and the second limiting block (42) of the sampling head. The second limiting part (5) includes a second limiting block (52) for the sampling tube, which cooperates with the second gripper (32) to restrict the movement of the sampling tube (2) toward the sampling head (1).

2. The fully automatic cutter changing device as described in claim 1, characterized in that: The second gripper (32) is fixed on the mounting plate (34), and the drive assembly (33) drives the first gripper (31) to move.

3. The fully automatic cutter changing device as described in claim 1, characterized in that: The second limiting part (5) also includes a first limiting block (51) of the sampling tube, which cooperates with the second limiting block (52) of the sampling tube to form a second gripper (32), so that the second gripper (32) is limited between the first limiting block (51) and the second limiting block (52).

4. The fully automatic cutter changing device as described in claim 3, characterized in that: It also includes a first adapter (6) and a second adapter (7). The first adapter (6) is provided with a first limiting part (4), and the second adapter (7) is provided with a second limiting part (5). The first adapter (6) is sealed to the sampling head (1). The second adapter (7) is sealed to the sampling tube (2). The first adapter (6) and the second adapter (7) are sealed to each other.

5. The fully automatic cutter changing device as described in claim 4, characterized in that: The sampling head (1) is provided with a first adapter (11), and a first step (111) is formed between the first adapter (11) and the inner wall of the sampling head (1). The first adapter (6) is provided with a first adapter part (43), which extends from the first limiting block (41) of the sampling head to the first adapter (11), and the top surface of the first adapter part (43) abuts against the first step (111). The first adapter (11) and the first adapter part (43) are sealed by a sealing ring.

6. The fully automatic cutter changing device as described in claim 4, characterized in that: The end of the first adapter (11) extends to the end face of the first limiting block (41) of the sampling head, and contacts the end face of the first limiting block (41), and the end of the first adapter (11) is sealed to the end face of the first limiting block (41).

7. The fully automatic cutter changing device as described in claim 4, characterized in that: The first adapter (6) is provided with a second adapter interface (61), and a second step (611) is formed between the second adapter interface (61) and the inner wall of the first adapter (6). The second adapter (7) is provided with a second adapter part (71), which extends from the first limiting block (51) of the sampling tube to the second adapter interface (61), and the top surface of the second adapter part (71) abuts against the second step (611). The second adapter interface (61) and the second adapter part (71) are sealed by a sealing ring.

8. The fully automatic cutter changing device as described in claim 7, characterized in that: The second adapter (61) is flared.

9. The fully automatic cutter changing device as described in claim 7, characterized in that: The end of the second adapter (61) extends to the end face of the first limiting block (51) of the sampling tube, and contacts the end face of the first limiting block (51) of the sampling tube. The end of the second adapter (61) is sealed to the end face of the first limiting block (51) of the sampling tube.

10. The fully automatic cutter changing device as described in claim 4, characterized in that: The second adapter (7) is provided with a third connection port (72), and a third step (73) is formed between the third connection port (72) and the inner wall of the second adapter (7). The sampling tube (2) is inserted into the third connection port (72) and touches the third step (73), and the third connection port (72) and the sampling tube (2) are sealed together.

11. The fully automatic cutter changing device as described in claim 4, characterized in that: The sampling head (1) is integrally formed with the first adapter (6), and the sampling tube (2) is integrally formed with the second adapter (7).

12. The fully automatic cutter changing device as described in claim 1, characterized in that: The two opposing surfaces between the first limiting block (41) and the second limiting block (42) of the sampling head are inclined surfaces, and the two opposing surfaces between the first limiting block (51) and the second limiting block (52) of the sampling tube are inclined surfaces. The inclined surfaces are used to guide the mechanical claw (3) to clamp.

13. A fully automatic cutter changing system, comprising the fully automatic cutter changing device according to any one of claims 1-12, characterized in that: It also includes a clean chamber (8) and a recycling chamber (9), which are located within the stroke range of the robotic arm (39). The clean chamber (8) and the recycling chamber (9) are provided with placement slots for placing the sampling head (1).

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